“…Advanced soft computing controllers based on artificial neural network, 7-9 fuzzy techniques, 10 adaline, 11 and adaptive neuro fuzzy inference system 12,13 are interesting but complex. Recently, a number of new controllers [14][15][16][17][18][19] based on repetitive computation and updating of weights such as anti Hebbian, 14 least means square-based technique, 15 adaptive notch-based control 16 and recursive techniques, 17,18 and other signal cancelation techniques 19 have gained immense popularity. The desired controller should have the following objectives--ability to perform precise reference tracking, simple computational demands, and low parametric sensitivity.…”